Reinterpretation of Force Integral Control considering the control ability of system input

In the paper, the new force control, which is called the D´Alambertian force Error based Force Integral Control (DEFIC), is proposed based on the force integral control by considering the ability of the system input. From the system input point of view, the external force and system acceleration cannot be distinguished from each other. Thus, the best solution is to handle those quantities together. DEFIC is motivated from this observation. The external disturbance robustness and the plant/model mismatch compensation of DEFIC are explained based on the passivity-based control and Disturbance OBserver(DOB). Furthermore, it is illustrated how DEFIC can be extended to n-DOF manipulator control. The performance of DEFIC is verified with simulations, and the conclusion is followed directly.